Quadrupeds deployed in real-world scenarios need to be robust to unmodelled dynamic
effects. In this work, we aim to increase the robustness of quadrupedal periodic forward …

Operations involving safe interactions in unstructured environments require robots with
adapting behaviors. Compliant manipulators are a promising technology to achieve this …

This letter investigates the repetitive range of motion (ROM) training control for a compliant
ankle rehabilitation robot (CARR). The CARR utilizes four pneumatic muscle (PM) actuators …

With the development of industrial automation comes an ever, broadening number of
application scenarios for manipulators along with increasing demands for their precise …

Soft robots are deformable, compliant, and underactuated systems. During any task, due to
their enormous capability of body deformation, the relative degree may not be well-defined …

Soft robots can execute tasks with safer interactions. However, control techniques that can
effectively exploit the systems' capabilities are still missing. Differential dynamic …

In the realm of data-driven adaptive iterative learning control (AILC), the emphasis in
designing and analyzing control schemes mainly concentrates on discrete-time systems …

The Jacobian motion planning of a nonholonomic system, derived by means of the
Endogenous Configuration Space Approach, relies on a complete knowledge of a robot's …

In this paper, we focus on designing a swing-up controller, namely Passivity-Based Swing-
up Control (PBSC). The object we use to validate the PBSC is the Rotational Inverted …